-#else
- strat_set_speed(600, SPEED_ANGLE_FAST);
- err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
- err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
- err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
- err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
- err = line2line(LINE_R_UP, 3, LINE_UP, 5);
- err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
- err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
- err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
- err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
- wait_ms(500);
- trajectory_hardstop(&mainboard.traj);
- return END_TRAJ;
-#endif
-
- trajectory_hardstop(&mainboard.traj);
-
- /* ball ejection */
- trajectory_a_abs(&mainboard.traj, COLOR_A(90));
- i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
- time_wait_ms(2000);
-
- /* half turn */
- trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_pack(I2C_LEFT_SIDE);
- i2c_cobboard_pack(I2C_RIGHT_SIDE);
- trajectory_a_rel(&mainboard.traj, COLOR_A(180));
- err = wait_traj_end(END_INTR|END_TRAJ);
-
- /* cob ejection */
- trajectory_d_rel(&mainboard.traj, -100);
- err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- time_wait_ms(2000);